The center of mass (CoM) position is the weight sum of each body’s position in a system, but is there an angular counterpart? Can we average each body’s orientation to get the angular center of mass” (ACoM)? Over the summer, Yu-Ming Chen worked with Boardwalk Robotics and IHMC, and has a new preprint out! In it, he introduces the ACoM in layman’s terms and shows an application to natural walking with the humanoid Nadia.